Analysis on dynamics of underwater robot manipulators based on iterative learning control and time-scale transformation

A new method to analyze the dynamics of underwater robot manipulators is proposed in this paper. In the proposed method, hydrodynamic terms such as added mass, drag and buoyancy in dynamics of underwater robots are obtained by iterative learning control and time-scale transformation. The advantage of the proposed method is not to use parameter estimation of the dynamics. In this paper, we explain that the proposed method can be applied to hardware design, motion control and motion planning of underwater robots. Moreover, the experimental results using a 1-DOF and a 3-DOF manipulator demonstrate the effectiveness of the proposed method.